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基于EtherCAT总线的机器人柔顺控制系统和方法
Alternative TitleRobot compliance control system and method based on EtherCAT bus
张峰; 张涛; 李涛; 崔龙; 李洪谊; 李伟; 阳方平
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status实审
Abstract本发明涉及基于EtherCAT总线的机器人柔顺控制系统,包括主站,机器人驱动器,电机和转矩传感器;主站通过EtherCAT总线与机器人驱动器连接,机器人驱动器连有电机和转矩传感器;方法为主站将机器人驱动器采集的电机周期性数据与设定的期望值进行叠加并进行阻抗控制,输出参考力矩值至机器人驱动器。本发明提供一种实时性强、可靠性高、成本低、体积小的基于EtherCAT总线的模块化机器人柔顺控制方法,适应了现代机器人在执行接触作业中的要求。且该发明完全遵守EtherCAT协议,可以与其他EtherCAT驱动器混合使用,从而提高了该方法的适用范围。
Other AbstractThe invention relates to a robot compliance control system based on an EtherCAT bus, comprising a master station, a robot driver, a motor and a torque sensor. The master station is connected with the robot driver through an EtherCAT bus, and the robot driver is connected with the motor and the torque sensor. The master station superposes motor periodic data acquired by the robot driver and a set expected value and carries out impedance control, and outputs a reference torque value to the robot driver. The invention provides an EtherCAT bus-based modular robot compliance control method which has the advantages of strong real-time performance, high reliability, low cost and small size, and the method adapts to the requirements of the modern robots in executing contact work. The system and the method completely obey the EtherCAT protocol, and can be mixed with other EtherCAT drivers in use. Therefore, the application range of the method is increased.
PCT Attributes
Application Date2014-11-26
2016-06-22
Application NumberCN201410696611.4
Open (Notice) NumberCN105700465A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/19054
Collection机器人学研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
张峰,张涛,李涛,等. 基于EtherCAT总线的机器人柔顺控制系统和方法[P]. 2016-06-22.
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